Quaternion Class Reference

#include <ZLinAlg.h>

List of all members.

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Detailed Description

A class of quaternions and a number of linear algebra methods and operators.

Public Member Functions
	Quaternion ()
	~Quaternion ()
float	getX ()
float	getY ()
float	getZ ()
float	getW ()
void	setvalues (float X, float Y, float Z, float W)
void	setX (float X)
void	setY (float Y)
void	setZ (float Z)
void	setW (float W)
float	norm ()
bool	normalize ()
bool	conjugate ()
bool	ComputeFromRotationMatrix (Column3Vector C0, Column3Vector C1, Column3Vector C2)
Column3Vector	RotateVector (Column3Vector P1)
Quaternion	operator * (Quaternion Qright)
Quaternion	operator/ (Quaternion Qright)
Quaternion &	operator= (Quaternion Qnew)
void	PrintSelf ()

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Constructor & Destructor Documentation

Quaternion::Quaternion (   )

Constructor Class. Returns: none.

Quaternion::~Quaternion (   )

Destructor Class Returns:

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Member Function Documentation

bool Quaternion::ComputeFromRotationMatrix (  Column3Vector  C0, Column3Vector  C1, Column3Vector  C2 )

Compute quaternion elements from a rotation matrix. NOTE: The matrix columns should be orthonormal. This is not verified prior to computing the quaternion. Parameters: C0  First column vector of the rotation matrix. C1  Second column vector of the rotation matrix. C2  Third column vector of the rotation matrix. Returns: true if success, false if the quaternion cannot be computed.

bool Quaternion::conjugate (   )

float Quaternion::getW (   )

Get fourth element of the quaternion. Returns: The scalar constant for the quaternion.

float Quaternion::getX (   )

Get first element of the quaternion. Returns: The x-coefficient for the quaternion.

float Quaternion::getY (   )

Get second element of the quaternion. Returns: The y-coefficient for the quaternion.

float Quaternion::getZ (   )

Get third element of the quaternion. Returns: The z-coefficient for the quaternion.

float Quaternion::norm (   )

Compute the norm of the 3-vector. Returns: The norm of the 3-vector.

bool Quaternion::normalize (   )

Normalize the quaternion. Returns: True if successfully normalized, false if quaternion cannot be normalized.

Quaternion Quaternion::operator * (  Quaternion  Qright  )

Multiply two quaternions. Parameters: Qright  The righthand multiplier. Returns: The result.

Quaternion Quaternion::operator/ (  Quaternion  Qright  )

Find relative rotation between two frames represented by two quaternions. Rotation multiplied by rotation inverse. Parameters: Qright  Returns: Result.

Quaternion & Quaternion::operator= (  Quaternion  Qnew  )

Method for quaternion assignment operator. Parameters: Qnew  The new quaternion to be assigned. Returns: Result.

void Quaternion::PrintSelf (   )

Print the contents of the quaternion vector to the console.

Column3Vector Quaternion::RotateVector (  Column3Vector  P1  )

Rotate a vector using a quaternion representation of that rotation. Parameters: P1  The vector to be rotated. Returns:

void Quaternion::setvalues (  float  X, float  Y, float  Z, float  W )

Set all the quaternion vector elements. Parameters: X  X element. Y  Y element. Z  Z element. W  Real element.

void Quaternion::setW (  float  W  )

Set the W element (real). Parameters: W  Desired value of W element (real).

void Quaternion::setX (  float  X  )

Set the X element. Parameters: X  Desired value of X element.

void Quaternion::setY (  float  Y  )

Set the Y element. Parameters: Y  Desired value of Y element.

void Quaternion::setZ (  float  Z  )

Set the Z element. Parameters: Z  Desired value of Z element.

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The documentation for this class was generated from the following files:

• include/OpenTracker/input/ZLinAlg.h
• src/input/ZLinAlg.cxx

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